EP0045174B1 - Greiferorgan - Google Patents

Greiferorgan Download PDF

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Publication number
EP0045174B1
EP0045174B1 EP81303347A EP81303347A EP0045174B1 EP 0045174 B1 EP0045174 B1 EP 0045174B1 EP 81303347 A EP81303347 A EP 81303347A EP 81303347 A EP81303347 A EP 81303347A EP 0045174 B1 EP0045174 B1 EP 0045174B1
Authority
EP
European Patent Office
Prior art keywords
light
gripping device
gripping
light beams
workpiece
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP81303347A
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English (en)
French (fr)
Other versions
EP0045174A1 (de
Inventor
Inaba Hajimu
Sakakibara Shinsuke
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of EP0045174A1 publication Critical patent/EP0045174A1/de
Application granted granted Critical
Publication of EP0045174B1 publication Critical patent/EP0045174B1/de
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/025—Optical sensing devices including optical fibres
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/907—Sensor controlled device

Definitions

  • This invention relates to a device for gripping an object, for example a gripping device suitable for use on an industrial robot.
  • Industrial robots come equipped with a hand at one end of which a gripping device is mounted for gripping a workpiece so that the workpiece can be transported from one location to another along a predetermined path.
  • the workpiece gripping operation can be stabilized by so arranging it that the gripping center of the gripping device arrives at the same fixed position every time a workpiece is gripped.
  • a slight degree of non-coincidence between the center of a workpiece and the gripping center of the gripping device will not pose a major problem if the workpiece is light in weight, since one of the fingers on the gripping device will be able to shift the workpiece as the latter is grasped, thereby bringing the workpiece center and the gripping center into alignment so that the workpiece can be grasped firmly.
  • the gripping device cannot apply a force sufficient for moving the workpiece, so that the latter often cannot be gripped in the manner required.
  • a gripping device comprising gripping fingers for gripping an object
  • the gripping device comprises a plurality of light-emitting members, provided on the gripping device, for generating a plurality of light beams, and a plurality of light-receiving members, provided on the gripping device, for receiving the plurality of light beams, characterised in that the light-emitting and light-receiving members are so arranged that when-the gripping device is in use the light beams will cross at predetermined angles and the position of an object to be gripped, relative to the gripping device, may be sensed in response to interception of the plurality of light beams by the object as relative movement takes place between the gripping device and the object, the sensing being dependent upon interruption of the light beams and not upon their reflection by the object.
  • a gripping device comprising gripping fingers provided on a robot for gripping an object offset from a predetermined position, there being:
  • a plurality of light-receiving members provided on the gripping device, for receiving the plurality of light beams, characterised in that the light-emitting and light-receiving members are so arranged that when the gripping device is in use the light beams will cross at predetermined angles, and the light-receiving members will deliver output signals of one level when the light beams are received and of another level when the light beams are intercepted, this delivery not being dependent upon reflection of the light beams by the object and there being a robot control device connected to receive said output signals, for use in measuring the distance to the position of the object on the basis of the timing at which the plurality of light beams are intercepted by the object as the gripping device is about to grip the object offset from a predetermined position, and operable for moving the gripping device over the measured distance so as to bring the gripping center of the gripping device into coincidence with the center of the object.
  • a preferred embodiment of the present invention provides a gripping device capable of gripping an object firmly even if the object is not located precisely at a prescribed position.
  • the gripping center of this gripping device is capable of being shifted to align the gripping center with the center of an object when the center of the object is not located precisely at the prescribed position.
  • the end region of this gripping device has means for sensing the position of an object, allowing the position of the object to be confirmed before it is grasped by the gripping device.
  • FIG. 1 there is shown a front view of an industrial robot.
  • the robot includes a base 1, a robot body 2, a screw rod 3 adapted to transport the robot body 2 vertically, a motor 4 for rotatively driving the screw rod 3, guide rods 5 for guiding the robot body 2 as it is moved vertically by the screw rod 3, a rotatable pedestal 6 for rotating the robot body 2, an arm 7 which can be extended or retracted longitudinally thereof, a wrist mechanism 8, and a workpiece gripping device 9 which is in accordance with the present invention.
  • the workpiece gripping device 9, shown in greater detail in Fig. 2, includes two fingers 10, 11 attached to the free end thereof, and two guide rods 12, 13 along which the fingers 10, 11 are guided so as to approach or separate from each other to permit a workpiece to be gripped or released. Further provided are outer frames 14, 15 disposed outside the fingers 10, 11, respectively. Two light-emitting elements 16a, 17a are provided on the inner side of the outer frame 14 at the end portion thereof, and two light-receiving elements 16b, 17b are provided on the inner side of the outer frame 15 at the end portion thereof.
  • the light-emitting elements 16a, 17a are equipped with lens mechanisms, which are not shown.
  • Light emitted by the light-emitting element 16a reaches the light receiving element 16b after being focussed into a fine beam 16c by the corresponding lens mechanism, and light emitted by the light-emitting element 17a reaches the light-receiving element 17b after being similarly focussed into a fine beam 17c by the corresponding lens mechanism.
  • the light beams 16c, 17c from the light-emitting elements 16a, 17a cross each other, at an acute angle 9 and at a corresponding obtuse angle 180° - 0 , on the line y passing through the gripping center of the gripping device 9.
  • the gripping device of the above construction enables a workpiece to be gripped correctly even if the workpiece is not properly positioned at a prescribed location.
  • the sequence for executing this operation will be described with reference to Figs. 4(A) through 4(B).
  • the gripping device 9 is shown approaching a workpiece 18 at a speed v along the gripping center line y which does not coincide with the center 0 of the workpiece.
  • the gripping device blocks the light beams 16c, 17c being emitted by the light-emitting elements 16a, 17a, as depicted in Fig. 4(B).
  • This is sensed by the light-receiving elements 16b, 17b, respectively, allowing the planar position of the workpiece 18 to be detected through a sequence which will be described later.
  • the robot in response to the results of the position sensing operation just described, moves the arm 7 in such a manner that the gripping center C of the gripping device 9 is brought into agreement with the center 0 of the workpiece 18, as illustrated in Fig. 4(C). With coincidence established between the gripping center C and workpiece center 0, the fingers 10, 11 are moved toward each other to grip the workpiece 18 firmly, as shown in Fig. 4(D), after which the workpiece 18 is carried by gripping device 9 at the end of the arm 7 to another location along a predetermined path.
  • Fig. 5 is a plan view showing the positional relationship between the center 0 of the workpiece 18 and the gripping device 9 when the workpiece intercepts the light beams 16c, 17c.
  • the y-axis denotes the gripping center line of the gripping device
  • the x-axis denotes a straight line perpendicular to the y-axis at the point where the two light beams 16c, 17c cross, the x-axis lying in the gripping plane of the fingers 10, 11.
  • the gripping device 9 approaches the stationary workpiece 18 to effect the gripping operation.
  • the description of the gripping operation will proceed as if the workpiece 18 is approaching the gripping device.
  • the x and y axes will be fixed and the workpiece will move relative thereto.
  • Equation (1) At is the length of time measured from the instant at which light beam 16c is intercepted at point P o to the instant at which light beam 17c is intercepted at point P l' and can be readily determined by the robot control device from signals delivered by the light-receiving elements 16b, 17b.
  • Letting R represent the radius of the workpiece, the following equations can be derived through geometrical calculation:
  • Equation (2) is the angle of intersection of the light beams 16c, 17c.
  • Equation (3) is the coordinates x, y of the workpiece center at 0,.
  • 0 is a constant, and Ay can be readily determined from Equation (1). If the workpiece radius R is given in advance as a variable, the robot control device will be capable of determining the coordinates of the workpiece center quite easily from Equations (4) and (5).
  • Fig. 6 is a block diagram of a robot control device for practicing the just-described calculation and control.
  • a distance measuring circuit 20 is adapted to compute the distance ⁇ y. It does this by measuring the time At which lapses between the delivery of a "0" output from one of the light-receiving elements 16b, 1 7b, and the delivery of a "0" output from the remaining one of these two light receiving elements, and then by multiplying this value by its other input, namely the travelling speed v of the gripping device.
  • the distance measuring circuit 20 performs the computation expressed by Equation (1).
  • Ay computed by circuit 20 is applied to a coordinates arithmetic unit 21 whose other input is the radius R of the workpiece 18, the arithmetic unit 21 using the values of ⁇ y and R to compute the coordinates (x, y) of the workpiece center 0 1 from Equations (4) and (5).
  • a distance arithmetic unit 22 receives the positional information indicating the coordinates (x, y) of the workpiece center 0 1 , as delivered by the arithmetic unit 21, as well as positional information indicating the constant coordinates (C, 0) of the gripping center, C, and uses these values of 0, and of C to compute the linear distance between these two points.
  • a controller 23 controls the robot which includes the gripping device 9, and a'servo mechanism 24 moves the gripping device 9.
  • numeral 2 denotes the robot body, 7 the arm, 9 the gripping device, and 18 the workpiece.
  • the robot control device of Fig. 6 operates in the following manner. First, assume that the gripping device 9 approaches the workpiece 18 at the speed v, and that the workpiece first intercepts the light beam 16c, and then intercepts the light beam 17c.
  • the distance measuring circuit 20 computes the distance Ay in reponse to the interception of the light beams 16c, 17c, and the coordinates arithmetic unit 21 computes the coordinates (x, y) of the center of the workpiece.
  • the distance arithmetic unit 22 computes the distance from the center of the workpiece to the gripping center of the gripping device 9, calculates the direction in which the gripping device 9 must be moved to bring it toward the center of the workpiece 18, and supplies the controller 23 with the information relating to said distance and said direction.
  • the controller 23 feed commands to the servo mechanism 24 on the basis of the information from the distance arithmetic circuit 22, and the servo mechanism responds to the commands to drive the gripping device 9 until the gripping center C thereof coincides with the center 0 of the workpiece. When coincidence has been achieved, the controller 23 commands the servo mechanism 24 to drive the fingers 10, 11 toward each other to grip the workpiece.
  • the distance measuring circuit 20 sends a "0" signal directly to the controller 23.
  • the controller 23 interprets the arrival of the "0" signal as indicating that the workpiece is at the correct position, and permits the workpiece gripping device to approach the workpiece under the ordinary method of control.
  • the light-emitting and light-receiving elements mounted on the tips of the outer frames of the gripping device in the above-described embodiment, may be provided near the bottom of the middle part of the outer frames, or at the end regions of the fingers, the light-emitting members being provided on one finger and the light-receiving members on the other finger.
  • miniature laser units can be employed as the light-emitting members.
  • the laser beams emitted by such units would be extremely narrow and would therefore provide much more precise information indicative of the position of the workpiece, than in the case where ordinary light is used.
  • the present invention as described in detail above makes it possible for the gripping center of a gripping device to be brought into coincidence with the center of a workpiece automatically even when the workpiece is not located precisely at a predetermined position. This allows the workpiece to be gripped assuredly so that even heavy workpieces that have been incorrectly positioned can be gripped and transported.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Claims (12)

1. Greiferorgan (9) mit Greiferfingern (10, 11) zum Ergreifen eines Gegenstands (18), mit einer Vielzahl von Lichtabgabegliedern (16a, 17a), die an dem Greiferorgan (9) für die Erzeugung einer Vielzahl von Lichtstrahlen (16c, 17c) vorgesehen sind, und mit einer Vielzahl von an dem Greiferorgan (9) vorgesehenen Lichtaufnahmegliedern (16b, 17b) für die Aufnahme der Vielzahl von Lichtstrahlen (16c, 17c), dadurch gekennzeichnet, daß die Lichtabgabe- und Lichtaufnahmeglieder (16a, 17a, 16b, 17b) so angeordnet sind, daß dann, wenn das Greiferorgan (9) in Benutzung ist, die Lichtstrahlen (16c, 17c) sich unter bestimmten Winkeln kreuzen, und daß die Position eines zu ergreifenden Gegenstands (18) in bezug auf das Greiferorgan (9) in Abhängigkeit von der Unterbrechung der Vielzahl von Lichtstrahlen (16c, 17c) durch den betreffenden Gegenstand (18) in dem Fall feststellbar ist, daß eine Relativbewegung zwischen dem Greiferorgan (9) und dem Gegenstand (18) stattfindet, wobei die betreffende Ermittlung abhängt von der Unterbrechung der Lichtstrahlen (16c, 17c), nicht aber von ihrer Reflexion durch den Gegenstand (18).
2. Greiferorgan (9) nach Anspruch 1, umfassend äußere Bügel (14, 15), die auf der Außenseite der Finger (10, 11) angeordnet sind, wobei die Lichtabgabeglieder (16a, 17a) und die Lichtaufnahmeglieder (16b, 1 7b) an diesen Bügeln (14,15) vorgesehen sind.
3. Greiferorgan (9) nach Anspruch 2, wobei die Lichtabgabeglieder (16a, 17a) an einem Bügel (14) vorgesehen sind und wobei die Lichtaufnahmeglieder (16b, 17b) an einem anderen Bügel (15) vorgesehen sind.
4. Greiferorgan (9) nach Anspruch 1, wobei die Lichtabgebeglieder (16a, 17a) und die Lichtaufnahmeglieder (16b, 17b) an Endbereichen der Finger (10, 11) vorgesehen sind.
5. Greiferorgan (9) nach Anspruch 4, wobei die Lichtabgabeglieder (16a, 17a) an einem Finger vorgesehen sind und wobei die Lichtaufnahmeglieder (16b, 17b) an einem anderen Finger vorgesehen sind.
6. Greiferorgan (9) nach einem der vorhergehenden Ansprüche, wobei die Lichtabgabeglieder (16a, 17a) Laserstrahlen zu emittieren vermögen.
7. Greiferorgan (9) nach einem der vorhergehenden Ansprüche, wobei die Lichtaufnahmeglieder (16b, 17b) Ausgangssignale eines Pegels in dem Fall, daß die Lichtstrahlen (16c, 17c) aufgenommen sind, und Ausgangssignale eines anderen Pegels in dem Fall zu liefern vermögen, daß die Lichtstrahlen (16c, 17c) unterbrochen sind, wobei das Greiferorgan (9) in betriebsfähiger Kombination mit einer Automatensteuereinrichtung (20 bis 24) versehen ist, die so geschaltet ist, daß sie die genannten Ausgangssignale aufnimmt, und zwar für die Verwendung zur Messung des Abstands zu der Stellung des Gegenstands (18) auf der Grundlage der Bestimmung des Zeitpunkts, zu dem die Vielzahl von Lichtstrahlen (16c, 17c) von dem Gegenstand (18) unterbrochen werden, wenn eine Relativbewegung zwischen dem Greiferorgan (9) und dem betreffenden Gegenstand (18) bei in Gebrauch befindlichem Greiferorgan (9) erfolgt, wobei die Automatensteuereinrichtung (20 bis 24) für den Einsatz zur Bewegung der Greifermitte (C) des Greiferorgans (9) in bezug auf die Mitte (0) des Gegenstands (18) um die gemessene Strecke angeordnet ist.
8. Kombination nach Anspruch 7, wobei die Automatensteuereinrichtung (20 bis 24) eine Abstandsmeßschaltung (20), eine Koordinaten-Rechenschaltung (21) und eine Abstands-Rechenschaltung (22) umfaßt.
9. Greiferorgan (9), mit Greiferfingern (10, 11), die an einem Zum Ergreifen eines Gegenstands (18) vorgesehenen Automaten (2) von einer bestimmten Position aus versetzt vorgesehen sind,
wobei eine Vielzahl von Lichtabgabegliedern (16a,17a) an dem Greiferorgan (9) für die Erzeugung einer Vielzahl von Lichtstrahlen (16c, 17c) vorgesehen ist,
und wobei eine Vielzahl von an dem Greiferorgan (9) vorgesehenen Lichtaufnahmegliedern (16b, 17b) die Vielzahl der Lichstrahlen (16c, 17c) aufnimmt, dadurch gekennzeichnet, daß die Lichtabgabe- und Lichtaufnahmeglieder (16a, 17a, 16b, 17b) so angeordnet sind, daß dann, wenn das Greiferorgan (9) in Gebrauch ist, die Lichtstrahlen (16c, 17c) sich unter bestimmten Winkeln kreuzen,
und daß die Lichtaufnahmeglieder (16b, 17b) Ausgangssignale eines Pegels in dem Fall liefern, daß die Lichtstrahlen (16c, 17c) aufgenommen sind, und Ausgangssignale eines anderen Pegels in dem Fall liefern, daß die Lichtstrahlen (16c, 17c) unterbrochen sind, wobei diese Abgabe nicht abhängt von der Reflexion der Lichtstrahlen (16c, 17c) durch den betreffenden Gegenstand (18),
und daß eine Automatensteuereinrichtung (20 bis 24) vorgesehen ist, die so geschaltet ist, daß sie die genannten Ausgangssignale aufnimmt, und die dazu herangezogen ist, den Abstand zu der Position des betreffenden Gegenstands (18) auf der Grundlage des Zeitpunkts zu messen, zu dem die Vielzahl der Lichtstrahlen (16c, 17c) durch den betreffenden Gegenstand (18) in dem Fall unterbrochen ist, daß das Greiferorgan (9) im Begriff ist, den von einer bestimmten Position aus versetzten Gegenstand (18) zu ergreifen,
wobei die betreffende Automatensteuereinrichtung so betreibbar ist, daß das Greiferorgan (9) über den gemessenen Abstand derart bewegt wird, daß die Greifermitte (C) des Greiferorgans (9) in Übereinstimmung mit der Mitte (0) des Gegenstands (18) gebracht wird.
10. Kombination nach Anspruch 7 oder 8 oder Greiferorgan (9) nach Anspruch 9, wobei die Automatensteuereinrichtung (20 bis 24) eine Schaltung (20) enthält, die ein Signal erzeugt, wenn der Gegenstand (18) die Vielzahl von Lichtstrahlen (16c,17c) gleichzeitig unterbricht, wobei das betreffende Signal die Automatensteuereinrichtung (20 bis 24) unwirksam macht.
11. Greiferorgan (9) oder Kombination nach einem der vorhergehenden Ansprüche, wobei die Lichtabgabe- und Lichtaufnahmeglieder (16a, 17a, 16b, 17b) so angeordnet sind, daß die Lichtstrahlen (16c, 17c) zusätzlich zur Kreuzung sich schneiden, wenn das Greiferorgan in Gebrauch ist.
EP81303347A 1980-07-24 1981-07-22 Greiferorgan Expired EP0045174B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP101518/80 1980-07-24
JP55101518A JPS59353B2 (ja) 1980-07-24 1980-07-24 把持装置

Publications (2)

Publication Number Publication Date
EP0045174A1 EP0045174A1 (de) 1982-02-03
EP0045174B1 true EP0045174B1 (de) 1984-10-24

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EP81303347A Expired EP0045174B1 (de) 1980-07-24 1981-07-22 Greiferorgan

Country Status (6)

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US (1) US4423998A (de)
EP (1) EP0045174B1 (de)
JP (1) JPS59353B2 (de)
KR (1) KR840000538B1 (de)
DE (1) DE3166831D1 (de)
SU (1) SU1179912A3 (de)

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JPS59353B2 (ja) 1984-01-06
SU1179912A3 (ru) 1985-09-15
KR840000538B1 (ko) 1984-04-20
DE3166831D1 (en) 1984-11-29
JPS5727692A (en) 1982-02-15
EP0045174A1 (de) 1982-02-03
KR830005978A (ko) 1983-09-14
US4423998A (en) 1984-01-03

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